摘要
为研究某交流伺服电机驱动的4Mecanum轮全方位移动平台的运动控制特性及参数,提出一种基于UG和Matlab的控制动力学联合仿真方法。分别建立该系统的3维动力学模型及电机伺服系统模型,搭建Simulink环境下的联合仿真模型,通过仿真验证结构和控制系统设计的合理性,得到初步的控制参数,为后续控制系统参数调试提供参考。联合仿真结果表明:该系统的结构及控制系统设计合理,各向速度控制精度均可达到2%以内,满足工程实际要求。
In order to study the motion control characteristics and parameters of a 4Mecanum omnidirectional mobile platform driven by an AC servo motor,a joint simulation method of control dynamics based on UG and Matlab is proposed.The 3D dynamic model and motor servo system model of the system are established respectively,and the joint simulation model under the Simulink environment is built.The rationality of the structure and control system design is verified through simulation,and the preliminary control parameters are obtained,providing reference for the subsequent control system parameter debugging.The joint simulation results show that the structure and control system design of the system are reasonable,and the speed control accuracy of each direction can reach less than 2%,which meets the practical requirements of the project.
作者
叶伟
郑晓东
邓路军
Ye Wei;Zheng Xiaodong;Deng Lujun(High Speed Aerodynamics Institute,China Aerodynamics Research and Development Center,Mianyang 621000,China)
出处
《兵工自动化》
2023年第7期37-44,共8页
Ordnance Industry Automation
